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58 | Operation

2.4.5 Joystick Gain

The Joystick Gain makes the joystick more or less sensitive. The setting can be changed by entering a number between
0 and 100%. The Joystick Gain setting is used for as well Manual as Auto joystick mode.

At a gain of 1% the joystick has minimal effect. Pushing the joystick lever to the outer edge will only slightly increase
engine thrust. At a gain of 100% pushing the joystick lever to outer position will increase engine thrust majorly.

For in harbor use the percentage can best be set at 30% or lower. The Gain option can be set via the MAP screen
(Joystick Gain Setting on page 36).

To set Gain option perform the following actions:

1. Click on the JSM GAIN percentage value in at the lower left of the screen.

2. Enter a new value between 0 and 100, for example for use in harbor click on “3” and “0” to set to “30”.

3. Click OK to confirm.

2.4.6 Wind Compensation

The Wind Compensation is off by default. This to ensure the thrusters will not immediately engage after the DP system
takes over the control to counteract the wind forces. The Wind Compensation is turned off automatically when changing
to another mode. For example turning wind compensation on in auto position mode, it will be turned off when changed to
joystick manual mode.

To turn on Wind Compensation perform the following actions:

1. Locate Wind Compensation area in lower left area of MAP Screen.

2. Select check box to turn Wind Compensation.

3. Press OK on the confirmation dialog.

4. Set percentage value to 100% (normal).

5. Optionally set percentage value lower (50%), if the vessel is over responding to the wind.

Note The amount of Wind Compensation is determined by the percentage set: 0% is no compensation,
100% is normal use. Before using the Wind Compensation on / off button on the operator panel check that
percentage value is set up properly.

Lowering the Wind Compensation will also lower the thrust. If the vessel does require this thrust to stay in position, the
regulator will increase the integration factors. See Force Calculation on page 19 for more information on how thruster
force is calculated.

2.4.7 Current Compensation

When in auto position mode, current compensation is turned on by default. When in joystick manual mode, it is turned
off automatically. When the system is in auto position mode it continuously calculates and updates the current speed
and direction. When system is in joystick manual or auto mode it remembers the last values used in Auto position mode.
When the system is set to Auto Position mode again, it continues to use the previously calculated and remembered
values.

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Содержание Alphatron Marine AlphaDynaPos

Страница 1: ...AlphaDynaPos Ship Automation and Navigation system Operation Manual www jrc am ...

Страница 2: ...23a 23b 12 III 2 8 Status JC Station DP Stations 24a 24b 12 III 3 System Overview DP2 13 III 4 Sensor Overview 14 III 5 System Principle Schematic Overview 15 III 6 System Diagram 16 III 6 1 Motion Controller 17 III 6 2 Normalize 17 III 6 3 Position Controller 18 III 6 4 Velocity Controller 18 III 6 5 Gain 19 III 6 6 Vector Select 19 III 6 7 Force Calculation 19 III 6 8 Thruster Allocation 20 III ...

Страница 3: ...ailable Sensors 45 2 3 5 2 Motion Sensor 45 2 3 5 3 Heading Sensor 46 2 3 5 4 Wind Sensor 46 2 3 6 Position 47 2 3 6 1 GPS Sensor 48 2 3 6 2 GPS Sensor weighing 48 2 3 6 3 Acoustic Sensor 49 2 3 7 Follow 50 2 3 7 1 Select Sensor for F U Follow Up 51 2 3 7 2 Set system to Auto Position Follow Mode 51 2 3 8 Simulation 52 2 3 8 1 Setting Environment in Simulation mode 52 2 3 8 2 Setting GPS in Simula...

Страница 4: ...trong Current Force 69 2 5 5 Strong Wind Force 70 2 5 6 Warning for Loss in Worst Case Failure 70 2 5 7 DP2 Usage Nearby High Objects 70 2 5 8 Alternative Wind Sensor Usage 70 2 6 Diagnostics and Alarms 70 2 6 1 Description 70 2 6 2 Alarm List and Alarm Handling 70 2 6 3 System Alarms 71 2 6 4 Thruster Alarms 72 2 6 5 Reference Sensor Alarms 73 2 6 6 Position Sensor Alarms 74 2 6 7 Heading Sensor ...

Страница 5: ...5 Contents 4 2 Appendix B Checklist for Taking DP system into Operation 85 ...

Страница 6: ...a received from position reference systems gyro compasses wind sensors and pitch roll sensors The Dynamic Tracking mode allows the ship to move along a predefined track at low speed as defined by the operator The AlphaDynaPos Joystick Control system JC is an independent JC control station serving as a backup for the DP control station The functionality of the independent Joystick station is equal ...

Страница 7: ...uses solid state disks running under the Windows XP embedded operating system The DP Workstation Marine PC TFT screen and Printer and all other components of the DP system are working with a 24VDC supply voltage with low power consumption 4 Cost effective DP solution Reliable hardware that is field proven on hundreds of vessels that allows for efficient and standard manufacturing in large quantiti...

Страница 8: ...afterward for vessel motion bow to stern and left to right for vessel motion port to starboard depending on how it is positioned orientated on the vessel The rotation knob is integrated in the lever and controls a third axis by turning the lever clockwise or counterclockwise LAT Latitude Latitude in degrees angle from center of earth to north pole as positive to south pole as negative Format is dd...

Страница 9: ...9 Preface Abbreviation Description SOG Speed Over Ground knots Absolute Speed relative to world True Wind Wind speed and angle relative to world as measured by device on land see also apparent wind ...

Страница 10: ...10 Cautions II Cautions Caution Operation system To safely operate this equipment so as not to adversely affect the warranty only certified personnel should operate this system ...

Страница 11: ...11 Introduction III Introduction III 1 Communication Overview The following overview drawing shows a block diagram with the main system components and network connections Figure 1 Network Connections ...

Страница 12: ...Controllers 1b 2b 3b 4b 5b 6b The thruster processors collect actual RPM Pitch signal and send this back to DP controllers III 2 3 JC Control Commands to Thrusters 1c 2c 3c 4c 5c 6c The MPC runs the JC controller which give thruster Set Points for RPM Pitch and direction angle to the thruster controller processors Only if the JC station is in control it sends these Set Points III 2 4 Thruster Feed...

Страница 13: ...13 Introduction III 3 System Overview DP2 Figure 2 system Overview DP2 ...

Страница 14: ...14 Introduction III 4 Sensor Overview Figure 3 Sensor Overview ...

Страница 15: ...es the proper response This is sent to the vector selection block which also receives the mode that the user has selected and the position of the joystick and the rotation knob The block decides what to send to the force calculation block The force calculation block receives user or controller vector wind and current forces and it summarizes this to a total force that is passed onto the Thruster a...

Страница 16: ...ontroller which consists of a position and a velocity controller where all sensor data is fed into and all thruster Set Points outputs are driven by The Motion Control determines whether the Controller is used or that the system is in Manual mode Figure 5 System Diagram ...

Страница 17: ...Motion Controller The most important task of the Motion Controller is to change between modes Joystick Manual Joystick Auto automatic heading control using bow thruster Auto Position full automatic control Auto Pilot automatic heading control using steering Note Due to Class requirements Auto Pilot is not available in DP system The Auto Position mode has several sub modes Tracking ROV follow The M...

Страница 18: ...r looks for the input value in a fuzzy logic table to find the proper response This value is multiplied by the gain factor 0 25 For example a position error of 0 25 gives an output value of 0 07 The Integrator uses a first order filter to compensate for errors of a constant type This is mostly current but can also be an external force that needs the same correction force for a longer period of tim...

Страница 19: ...ed easily to suit the needs for the particular situation For example The output of the FC PD regulator is added to 0 6 times the output of the FC PI regulator This total is multiplied by Position Gain of 70 times 0 7 for the X Y movements and multiplied by Heading Gain of 60 times 0 6 for the rotation movement The result of this is output to the Vector selection III 6 6 Vector Select Vector Select...

Страница 20: ...alculation Block and outputs Thruster Set Point towards the Ramp Block The inputs are in 3 dimensions X Y and Z The outputs are up to 2 Set Points per thruster for the direction angle Set Point and the RPM set point The function of the Allocation Block is to divide the demand force over the available Thrusters It gives priority to rotation force The Block will limit X and Y forces to ensure the ve...

Страница 21: ...Block receives the thruster forces from the Ramp Block and output the current force to the Summarize Block The main task of the Current Block is to calculate the average output thrust over a longer time period When the wind and other known external forces are subtracted from this the current force remains Figure 7 Current Block The calculation is done by filtering the thruster Set Points over long...

Страница 22: ...e The redundant DP Operator Panels are equipped with a joystick with heading knob integrated in joystick and with push buttons for choosing different operator modes and a tracker ball with numeric keyboard Note The DP Operator Panel can be bulkhead mounted inside a yard supplied bridge console or can be mounted in an optional DP Console The redundant DP Thruster I O Controllers can accept any kind...

Страница 23: ...ze HxWxD 144 x 144 x 20 Trackerball Numeric keyboard Figure 8 Joystick Figure 9 Tracker Ball The DP system operation modes are selected with and indicated on the push buttons on the joystick panel or at the screens shown at the TFT monitor of the DP workstation Operation mode change is only possible when the Joystick and RATE OF TURN knob also called HEADING knob are in neutral position In each Op...

Страница 24: ... Thruster Rudder Control to DP Operation has to perform the following actions 1 Check that the AlphaDynaPos DP system is in good working order INFO Whether the system is in good working order is indicated on the DP Operator Panel 2 Set the Joystick and the Heading knob in the neutral position INFO The Joystick and Heading knob are part of the DP Operator Panel 3 Check that each thruster rudder is ...

Страница 25: ...over by the Individual Controllers 2 1 5 Auto Control Transfer on Fail Condition When the system is in auto position mode the control will change from the active DP server to the back up server in case of a critical failure See chapter Diagnostics and Alarms on page 70 for list of failures and system responses This function is only for DP2 systems For this function to work the back up DP server mu...

Страница 26: ...tor Joystick Panel Figure 8 Joystick on page 23 Note When the button starts flashing push again to confirm take control When entering DP mode an alarm is activated to warn the user that the system is in simulation mode also the text SIMULATION is continuously flashing 2 1 6 1 Exit Simulation Mode To exit simulation mode perform the following actions Figure 12 Mode Selection 1 Press MODE and RELEAS...

Страница 27: ...nd the desired mode button on the large screen MAP tab Pressing mode requires double clicking if that is configured Figure 20 DP MAP Screen on page 32 Wind compensation setting is valid for all modes If wind compensation is turned on in manual joystick mode it will remain on after switching to auto joystick or auto position mode and vice versa Gain settings are individual The joystick gain works f...

Страница 28: ...ystick Mode The operator manually controls the position of the vessel using the Joystick and the heading is automatically kept to the Set Heading The joystick gain setting is used for both joystick modes manual joystick as well as auto joystick mode Figure 13 Auto Joystick Mode Joystick Controls forward thrust moments surge and sideways thrust moments sway of available thrusters according directio...

Страница 29: ...coordinates absolute position keeping or relative coordinates from for example a platform relative position keeping When entering this mode the Set Heading and Set Position are default set to the actual compass heading and actual DGPS position Figure 14 Auto Positioning Mode The following Automatic Positioning sub modes may be selected Manual Surge Manual Sway Manual Surge and Sway Minimal Power F...

Страница 30: ...tion is used to adjust the Set Position by setting the bearing and distance The vessel will move to the new position with the Set Transfer Speed Joystick The joystick has no function except in the MANUAL SURGE and or MANUAL SWAY modes see below The DP system automatically controls all selected thrusters to apply fore aft Surge and or port ...

Страница 31: ...failure The consequence analysis will generate an alarm if the occurrence of a worst case failure will lead to a loss of position due to insufficient thrust for the prevailing environmental conditions 2 2 5 Auto Heading Mode Note On classified systems Auto Heading mode is not available due to class requirements The vessels heading is kept to the Set Heading and the vessels speed is controlled by t...

Страница 32: ...Click on the OK button to confirm the setting Each tab at the top of the screen displays a screen for a specific function The following functions can be selected 1 Map Figure 20 DP MAP Screen on page 32 2 Tracking Figure 29 Tracking Screen on page 39 3 PMS Figure 34 PMS Screen on page 43 4 Capability Figure 35 Capability Screen on page 44 5 Sensors Figure 36 Sensor Screen on page 45 6 Position Fig...

Страница 33: ... green WIND vector yellow FORCE vector white controller output Note Wind force is displayed with a vector as Wind going to and numeric as Wind coming from MAP section has the following selectable options Figure 21 MAP Section Selectable Options VESSEL ORIENTATED selected Shows the map orientated in relation to the vessel If desired an offset for the orientation can be entered for instance if the m...

Страница 34: ...he vessel In this example the vessel has two azimuth thrusters on the stern and one azimuth and one tunnel thruster in the bow Figure 23 Thruster Selection on page 34 Figure 23 Thruster Selection Indicators in this section are Bar graphs per thruster Thrust Set point dark green red colors RPM or Pitch Set point dark green red colors ...

Страница 35: ...ontrol 1 2 3 Operating mode Joystick Manual Joystick Auto Auto Position Auto Pilot Tracking 2 3 1 3 Heading Setting Section The Heading Settings are displayed at the bottom of the MAP screen Figure 24 Heading Setting Section on page 35 Figure 24 Heading Setting Section Heading Set point in degrees parameter adjustable Decrease and Increase buttons Increase Decrease step size parameter adjustable S...

Страница 36: ... amount of maximum thrust used for correcting position Joystick Gain is amount of maximum thrust used in Joystick Manual or Joystick Auto mode when joystick pushed in outer position See Joystick Gain Setting on page 36 Speed maximum for rotation m Speed maximum for movement kn parameter adjustable 2 3 1 6 Joystick Gain Setting The system starts up in Joystick Manual This mode can take full use of ...

Страница 37: ... off by default Wind Compensation can be switched on by using the check box or button on operator panel Wind Compensation setting is for all modes Note Wind compensation settings remain the same when changing between operator modes For example when wind correction is enabled in auto position mode it remains enabled after changing to joystick manual mode Note The independent joystick system does no...

Страница 38: ...e 57 Accept to acknowledge alarms visible in the area Note The horn will be on again if a new error is added to the list Day button to switch display dimming to day mode Night button to switch display dimming to night mode Click on each alarm to accept it only then the system will check if this alarm occurs a second time 2 3 2 Tracking This chapter describes how to use tracking A track consists of...

Страница 39: ... screen is divided in several sections Values in yellow can be altered by double clicking on them and entering a new value 1 Left side Track Section Displays the track overview like a map Displays the vessel on the position and heading on the track Displays Environmental information such as Wind and Current compensation 2 Right top side Alarm Section Figure 30 Alarm Section ...

Страница 40: ...uding turning radius TIME TO WAY POINT Remaining time before next track segment has been reached including turn radius TIME TO TURN Remaining time before next turn PRE WARNING Time to warn before turn starts TRACKING Vessel is running track Click to stop track RUN TRACK Start track green when system is running track HOLD TRACK Pause along track slow down vessel speed to zero green when active ACCE...

Страница 41: ...e an alarm is activated TRACK ERROR A trend that shows cross track errors over time 4 Lower section WP Way Points PLOT Draw track in left area FILE READ Load track from file file can be selected by clicking the triangle Figure 32 File Read on page 41 Figure 32 File Read ADD DELETE CLEAR Add track segment Delete track segment Clear Delete all track segments Figure 33 Way Points on page 41 RELATIVE ...

Страница 42: ...ick on Radius to enter turning radius to next way point 5 Press ADD to create track segment 6 Repeat steps 2 to 5 until track is complete 2 3 2 2 3 Run a Track Tracking is a sub mode of the DP mode First the system must be set in DP mode before the tracking feature can be used 1 Change to DP MAP screen 2 Set system in DP mode 3 Change heading of vessel to the best heading to run the track 4 Switch...

Страница 43: ...the controller to the thrusters If for a given bus the power will exceed the bus limit the system reduces the power for the connected thrusters The allocator will transfer the requested thrust to other thrusters if possible On a sudden power loss generator or bus tie trip the system immediately reduces the power demand to the connected thrusters After this the system will try to re route the power...

Страница 44: ...ed X Y plot of wind capability with selected thrusters at 100 Green X Y plot of wind capability with selected thrusters at 80 Amber X Y plot of wind capability with selected thrusters at 80 on worst case failure Wind vector showing direction and speed If this vector reaches the capability boundaries the vessel is out of capability Current values and compensation settings Wind values and compensati...

Страница 45: ...r Workstation SENSORS screen provides the following info functions MRU section suitable for 3 different MRU devices Comport Status sample time Check box to use this reference device Display of raw values Roll Pitch Yaw and Heave if available Parameter for manual rating per device 0 10 Sensor weighing section Display of calculated rating Display of deviation from weighed over a longer period Displa...

Страница 46: ... adjusting factors for the weighing rating deviation error 0 10 Display of weighed heading and rate of turn used by the DP controller 2 3 5 4 Wind Sensor WIND section suitable for 3 different wind sensors Comport Status sample time Check box to use this wind sensor Display of raw values relative direction and speed Display of output values Relative direction and speed Absolute direction and speed ...

Страница 47: ...Before USE is allowed the sensor must be calibrated for example see the ACOUSTIC in the above screen shot Calibration will be done automatically after re connection but can also be done manually by clicking on the check box in the CALIB column The weight of each sensor is calculated automatically by the deviation of this sensor to the vessel model To review the accuracy of each sensor open the PRS...

Страница 48: ...ng per device 0 100 Sensor weighing section Display of calculated rating Display of deviation from weighed over a longer period Display of error from weighed Weight bar graph 0 1 2 3 6 2 GPS Sensor weighing GPS sensor quality is calculated with the following information GPS HDOP value from Sensor NMEA GGA sentence deviation in meters GPS RMS value if available via RMS sentence in this case the HDO...

Страница 49: ...er section suitable for 1 device Comport Status sample time Display of raw values distance to target A and B m Check box to use this device Display North and East distance to target at rotation point m Latched distance to target Latched Actual Error from weighed Error north east m Parameter for manual rating per device 0 100 Sensor weighing section Display of calculated rating Display of deviation...

Страница 50: ...nce relative used by the DP controller Error X SOG X Error Y SOG Y Sensor location section Parameter table to set the X Y Z offset of the reference device to the center of the vessel 2 3 7 Follow To make the DP system follow one particular sensor the Follow mode must be engaged First set system into Auto Position mode to enable Follow mode 1 Select POSITION screen Figure 39 Position Screen F U on ...

Страница 51: ...d sensor has to be deselected which sets the system from Follow mode back to Auto position mode Figure 40 Follow Up F U 2 3 7 2 Set system to Auto Position Follow Mode After selecting a sensor for Follow up in the Position screen Figure 39 Position Screen F U on page 50 the system can be changed from Auto Position mode to Auto Position Follow mode in the FOLLOW screen Figure 40 Follow Up F U on pa...

Страница 52: ...1 Simulation Screen on page 52 After changing into simulation mode two sensors of each type will be available Typical simulation settings of these sensors can be altered on the simulation screen Other screens can be used to operate the system same as in non simulation real mode 2 3 8 1 Setting Environment in Simulation mode The environment can be set to change the system behavior in a particular w...

Страница 53: ...ulated depending on wind speed combined with current speed 2 3 8 2 Setting GPS in Simulation mode The settings for two simulated GPS sensors can be set to change the Position Sensor behavior Figure 43 GPS Simulation Mode Double click on the yellow number to change the following settings Error X in surge length direction Error Y in sway sideways direction Error Z in height elevation 2 3 8 3 Setting...

Страница 54: ...choose to have the target at the center of the map and the vessel moving relative to world or to have the vessel at the center of the screen and the target moving vessel fix relative to vessel The map view can be set to zoom out automatically when the vessel is moving away from target Set Point or it can be fixed to keep current zoom setting 2 4 2 1 Vessel Orientation in MAP Screen To change to VE...

Страница 55: ... the VESSEL FIX check box Observe how target is at the center of the screen and the vessel moves depending on distance to position Set Point 2 4 2 5 Automatic Zoom in MAP Screen To change to AUTOMATIC ZOOM in the MAP screen perform following actions 1 Locate the ZOOM LOCK check box in the center at the bottom of the MAP screen Figure 46 Automatic Zoom Area on page 55 2 Deselect the ZOOM LOCK check...

Страница 56: ...daylight colors on page 56 Figure 47 MAP screen in daylight colors To turn to Night View low light usage perform the following actions 1 Select the MAP screen by pressing MAP tab at the left top of the screen 2 Press the Night Button in the top right of the screen Note Once this button has been pressed the word on the button changes to Day 3 Press the Day Button to turn on Day View Note Once this ...

Страница 57: ... Figure 8 Joystick on page 23 2 Confirm the alarm by clicking on the alarm in the alarm area and this alarm and only this one is confirmed and stops flashing 2 4 4 1 Confirm all Alarms To display a larger list with Alarms press the ALARM PAGE button on the MAP or FOLLOW screen Figure 20 DP MAP Screen on page 32 To silence the horn and confirm flashing alarm lines perform following actions Figure 4...

Страница 58: ...tion mode it will be turned off when changed to joystick manual mode To turn on Wind Compensation perform the following actions 1 Locate Wind Compensation area in lower left area of MAP Screen 2 Select check box to turn Wind Compensation 3 Press OK on the confirmation dialog 4 Set percentage value to 100 normal 5 Optionally set percentage value lower 50 if the vessel is over responding to the wind...

Страница 59: ... switch on or off Note Selection may be turned on or off without confirmation for one minute 2 4 9 Position Sensor Calibration and Selection Before using the Auto Position mode select a Position Sensor on the POSITION screen See Figure 37 Position Screen on page 47 and perform the following actions 1 Press the POSITION tab in the MAP screen 2 Check whether the sensor is in good condition if not th...

Страница 60: ...he center lower part of the screen Figure 49 Heading Settings on page 60 2 Click on decrease or increase buttons until desired heading is reached See also how a dashed line shows the new heading input in the MAP area 3 Press Apply to confirm once heading Set Point has been entered If the vessel is in Auto Heading or Auto Position it will start to rotate to the new heading angle Note Alternatively ...

Страница 61: ...t box at the lower left side of the screen Figure 50 Heading Speed Display on page 61 2 Double click on the yellow digits that display the maximum rotation currently set A dialog box appears with digit buttons to enter the new maximum rotation speed 3 Press OK to confirm Note It is not possible to enter a speed larger than the true maximum rotation speed of the vessel 2 4 10 3 Change Heading Gain ...

Страница 62: ...P MAP Screen on page 32 This area displays the actual position and settings that can be used to change the holding position Figure 52 Auto Position Mode Settings Figure 53 Joystick Buttons Left 2 4 11 1 Auto Position Mode Before activating the Auto Position mode the system must be in control and one or more position sensors must be selected 1 Press CTRL button on the joystick panel to take system ...

Страница 63: ... direction see Figure 55 Adjust Absolute on page 63 3 Deselect the box to change to RELATIVE mode Note Observe how the individual move buttons change from N North W West E East and S South to SB Starboard PS Portside AH Ahead and AS Astern Figure 54 Adjust Relative Figure 55 Adjust Absolute 2 4 11 4 Change Position Set Point Relative to Vessel To change Position Set Point Relative to Vessel perfor...

Страница 64: ...ate the STEP setting at the lower center of the screen 2 Double click on the yellow number which indicates the step distance in meters 3 Input the new step distance in the dialog that appears and confirm with the OK button 4 Locate the ADJUST ABSOLUTE RELATIVE button and click to change to Absolute input mode when it is in Relative mode 5 Locate the N E S W buttons in the lower right of the screen...

Страница 65: ...et Point entering Latitude Longitude Coordinates The system has several options to change the target Set Point The most basic option is to directly enter the latitude and longitude coordinates Figure 57 Change Target Set Point To change Target Set Point perform the following actions 1 Click the SP GEO Button in the lower center of the screen Figure 20 DP MAP Screen on page 32 2 Double click on the...

Страница 66: ... surge movement is required the sway button should not be selected If only sway movement is required the surge button should not be selected This prevents accidentally moving in the wrong direction 2 4 11 9 Set Transfer Speed The transfer speed is used in auto position mode When tracking is used or when a new position Set Point is entered the system will sail to this target with the speed given in...

Страница 67: ...he yellow digits currently displayed and enter the desired Gain percentage in the dialog box that appears 3 Press OK to confirm Note Using high gain may lead to overshoot 2 4 11 11 Change Position Alarm Limit The system can be setup to activate an alarm when position cannot be kept The difference of the actual position compared to the set position must be larger than the alarm limit to activate an...

Страница 68: ... in POSITION REFERENCE LIST lower left on the screen Note Follow Up can only be selected if the sensor is not selected as position sensor First deselect the sensor to use for Follow up 2 In the FOLLOW screen check the PRS INPUT check box Figure 40 Follow Up F U on page 51 3 Click the FOLLOW button bottom right to confirm Follow mode 4 Enter target offset X and Y distance for fixed offset from refl...

Страница 69: ...20 meters towards the target At this point the operator checks again that system will not overshoot more than feasible and is holding position properly The command can be given to move the last 5 meters and position the vessel on the target Set Point 2 5 2 Vessel Losing Position When the vessel is in auto position nearby another object and loses position more than acceptable the operator should im...

Страница 70: ...ble the wind sensor deselect wind sensor 2 Reduce the wind sensor percentage Also refer to chapter Wind Compensation on page 58 When the wind sensor is disabled the vessel will move in the direction from the wind possibly losing position for a short period After approx 10 minutes the current force will compensate for the loss of the wind sensor Current Compensation on page 58 The wind compensation...

Страница 71: ...y transferred to the other station Action Check cabling to IO controller Check power supply to IO controller Restart IO controller workstation x by turning power inside UPS x OFF ON When this does not solve the problem contact ALPHATRON MARINE Alarm OTHER DP SERVER FAIL Cause Hardware error Reaction Alarm on buzzer and on workstation If in Standby for DP2 then the control is automatically transfer...

Страница 72: ...n this does not solve the problem contact ALPHATRON MARINE 2 6 4 Thruster Alarms For all the selected thrusters the RPM PITCH and steering feedback alarm can be activated Note The alarm descriptions x displays Thruster number Alarm THRUSTER x CONTROL FAILURE Cause Thruster ready in control feedback signal lost Reaction Alarm on buzzer and on workstation Thruster automatically deselected Action Che...

Страница 73: ...is connected to this thruster XP is off Reaction Alarm on buzzer and on workstation Communication is automatic rerouted via redundant network system is no longer redundant DP2 operations should be stopped and vessel moved to safe location Action Check ethernet wiring of this section 2 6 5 Reference Sensor Alarms Note The alarm descriptions x displays reference number Alarm MRU x ALARM Cause COM po...

Страница 74: ...OFF ON When this does not solve the problem contact ALPHATRON MARINE 2 6 6 Position Sensor Alarms Note The alarm descriptions x displays sensor number Alarm LASER x ALARM Cause COM port failure Input sentence not valid or time out Signal quality low input from sensor Reaction Alarm on buzzer and on workstation Quality for this LASER reference is set to 0 Rating for this LASER reference is set to 0...

Страница 75: ...ause No healthy GPS or LASER reference or Acoustic reference or Taut wire available Reaction Alarm on buzzer and on workstation Last valid SOG freezes Last valid position difference freezes Action Check if position reference sensors are selected Restart DP workstation s x by turning power inside UPS x OFF ON When this does not solve the problem contact ALPHATRON MARINE 2 6 7 Heading Sensor Alarms ...

Страница 76: ...RON MARINE 2 6 8 Wind Sensor Alarms Note The alarm descriptions x displays sensor number Alarm WIND x ALARM Cause COM port failure Input sentence not valid or time out Reaction Alarm on buzzer and on workstation Quality for this Wind sensor is set to 0 Weight for this Wind sensor is set to 0 Rating for this Wind sensor is set to 0 Action Does alarm occur at DP_SYSTEM1 DP_SYSTEM2 and JC_SYSTEM YES ...

Страница 77: ... of Auto position Reaction Alarm on buzzer and on workstation Action Check if heading is still within limits of operation Increase Heading Gain Alarm POSITION OUT OF LIMITS Cause Difference between actual Position and Position Set Point is larger than the preset value by at least 5 seconds Only when in Joystick auto mode OR in Auto pilot mode OR in Auto position mode but not in sub modes of Auto p...

Страница 78: ...ontact ALPHATRON MARINE Alarm POWER REDUCTION ACTIVE Cause Requested DP power exceeds available power Reaction Alarm on buzzer and on workstation thruster Set Points are reduced Action Check Power Management System Alarm POSITION LOSS IN WORST CASE FAILURE Cause Pre warning when capability logic detects that in case of a worst case failure an out of capability situation occurs Reaction Alarm on bu...

Страница 79: ...takes about 5 minutes and it should display a BIOS report b Windows XP start up c AlphaDynaPos CamClient start up 3 1 2 UPS The UPS batteries must be replaced once every 4 years When batteries are replaced the dates of the changes must be noted on the UPS label Appendix A UPS Battery History on page 84 The UPS must be checked once a year during the annual DP classification check During this test t...

Страница 80: ...op of the screen using tracker ball The system controller screen appears 2 Select the On screen keyboard icon at the right bottom of the screen 3 Press Ctrl a using tracker ball A user name and password is requested Default No User and password 0 zero can be used and the Client Properties window appears 4 Select the DP Keyboard Configuration tab 5 Check the Do Calibrate check box The view of the w...

Страница 81: ... stick 3 2 2 Log Files The system logs sensor data thruster outputs and most user setting changes The sensor log is stored on the MPC flash drive in the D software Data folder With a USB stick these files can be copied to the computer by performing the following actions Note Before plug in check that the USB stick is virus free USB Memory Stick on page 81 1 Open main PC cabinet and locate the MPC ...

Страница 82: ...SB stick are now ready for use 3 2 3 Sensor Communication The sensors for AlphaDynaPos DP system use communication strings according specification IEC 61162 1 NMEA 0183 The strings used are shown in Table 7 Sensor Communication Strings on page 82 Sensor Sentence Frequency Hz Description Gyro HDT 5 10 Provides Heading ROT 5 10 Provides Rate of turn DGPS GGA 5 10 Provides Latitude Longitude Number o...

Страница 83: ...ers when the monitor is out of order Answer Normally the control from DP is released when taking over each thruster to manual at the thruster control panel When all thrusters are set to manual control the DP system will automatically release the control The RELEASE button at DIAGRAM or MAP screen is an extra possibility to release the control 3 3 5 Question CamClient No Communication A red cross a...

Страница 84: ... UPS Battery History Battery History Date mm yyyy Manufacturing Date Replacement Date 1 Replacement Date 2 Replacement Date 3 Replacement Date 4 Replacement Date 5 Note Battery set to be changed after 4 years of operation or sooner as required ...

Страница 85: ...ode 3 PMS is in DP2 configuration 4 The AlphaDynaPos DP system should be in a healthy condition The system s health is indicated on the DP Operator Panel 5 On Sensor screen 2 MRU sensors must be selected 6 On Sensor screen 2 Gyro sensors must be selected 7 On Sensor screen 2 Wind sensors must be selected 8 On Position Sensor page 2 DGPS sensors must be selected 9 On Position Sensor page Laser sens...

Страница 86: ...n this document is subject to change without notice and does not represent a commitment on the part of Alphatron Marine B V T 31 10 453 4000 Document Operation Manual F 31 10 453 4010 Project nr AlphaDynaPos service jrc am Version V1 0 www jrc am All rights reserved Alphatron Marine BV Centers of Excellence Houston Rotterdam Singapore Tokyo ...

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